• DocumentCode
    1813326
  • Title

    Robustification of backstepping against input unmodeled dynamics

  • Author

    Arcak, Murat ; Seron, Maria ; Braslavsky, Julio ; Kokotovic, P.

  • Author_Institution
    Center for Control Eng. & Comput., California Univ., Santa Barbara, CA, USA
  • Volume
    3
  • fYear
    1999
  • fDate
    1999
  • Firstpage
    2495
  • Abstract
    We present two redesigns to robustify backstepping control laws against dynamic uncertainties at the input of the plant. In the first redesign we construct a passivating control law from a control Lyapunov function obtained by backstepping. In the second redesign we simplify the passivation redesign which becomes cumbersome for high order systems. We also review the two main versions of backstepping: cancellation and LGV-backstepping, and compare their stability margins
  • Keywords
    Lyapunov methods; asymptotic stability; control system synthesis; dynamics; robust control; Lyapunov function; asymptotic stability; backstepping control; dynamic uncertainty; high order systems; passivation; robust control; stability margins; Backstepping; Control engineering; Control systems; Error correction; Lyapunov method; Passivation; Robust control; Robust stability; Robustness; Uncertainty;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
  • Conference_Location
    Phoenix, AZ
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-5250-5
  • Type

    conf

  • DOI
    10.1109/CDC.1999.831302
  • Filename
    831302
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1813326